Shadow Catcher, Shadow Rendering Behind Tracked Camera Scene
Well, I'd like to be more explicit in how I fixed it but basically, I went around and figured out that I had objects on the wrong layers.  After I switched from Blender Render to Cycles I was still having issues, even though Shadow Catcher was a much simpler option.  Even though the composite was working in Blender, it wasn't until I moved things to the proper layers that the shadow would show up. Now everything looks right and I'm on to my next challenge!